Seeed / MPU6050

3 axis gyroscope & 3 axis accelerometer

Dependents:   sgam-lib sgam_mdw_NUCLEOF429ZI_impl

Fork of MPU6050 by Yihui Xiong

Usage

#include "mbed.h"
#include "MPU6050.h"

DigitalOut myled(LED1);
Serial pc(USBTX, USBRX);
I2C    i2c(I2C_SDA, I2C_SCL);
MPU6050 mpu(i2c);
 
int16_t ax, ay, az;
int16_t gx, gy, gz;
 
int main()
{
    pc.printf("MPU6050 test\n\n");
    pc.printf("MPU6050 initialize \n");
 
    mpu.initialize();
    
    pc.printf("MPU6050 testConnection \n");
 
    bool mpu6050TestResult = mpu.testConnection();
    if(mpu6050TestResult) {
        pc.printf("MPU6050 test passed \n");
    } else {
        pc.printf("MPU6050 test failed \n");
    }
   
    while(1) {
        wait(1);
        mpu.getMotion6(&ax, &ay, &az, &gx, &gy, &gz);
        //writing current accelerometer and gyro position 
        pc.printf("%d;%d;%d;%d;%d;%d\n",ax,ay,az,gx,gy,gz);
    }
}

Diff: I2Cdev.cpp

Revision:
2:8c562a8fed36
Parent:
1:1e0baaf91e96
diff -r 1e0baaf91e96 -r 8c562a8fed36 I2Cdev.cpp
--- a/I2Cdev.cpp	Wed May 08 00:34:55 2013 +0000
+++ b/I2Cdev.cpp	Fri Sep 12 09:28:14 2014 +0800
@@ -5,14 +5,8 @@
 
 #include "I2Cdev.h"
 
-#define useDebugSerial
 
-I2Cdev::I2Cdev(): debugSerial(USBTX, USBRX), i2c(I2C_SDA,I2C_SCL)
-{
-
-}
-
-I2Cdev::I2Cdev(PinName i2cSda, PinName i2cScl): debugSerial(USBTX, USBRX), i2c(i2cSda,i2cScl)
+I2Cdev::I2Cdev(I2C &interface) : i2c(interface)
 {
 
 }
@@ -254,18 +248,31 @@
 
 bool I2Cdev::writeBytes(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint8_t *data)
 {
-    i2c.start();
-    i2c.write(devAddr<<1);
-    i2c.write(regAddr);
-    for(int i = 0; i < length; i++) {
-        i2c.write(data[i]);
+    int len = length + 1;
+    char *buf = (char*)malloc(len);
+    buf[0] = regAddr;
+    for (int i = 0; i < length; i++) {
+        buf[i + 1] = data[i];
     }
-    i2c.stop();
+    i2c.write(devAddr << 1 , buf, len);
+
+    free (buf);
     return true;
 }
 
 bool I2Cdev::writeWords(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint16_t *data)
 {
+    int len = length * 2 + 1;
+    char *buf = (char*)malloc(len);
+    buf[0] = regAddr;
+    for (int i = 0; i < length; i++) {
+        uint16_t word = data[i];
+        buf[2*i + 1] = word >> 8;
+        buf[2*i + 2] = word & 0xFF;
+    }
+    i2c.write(devAddr << 1 , buf, len);
+
+    free (buf);
     return true;
 }